The main goal of the research is to design a low-cost, performing quadrotor unmaned aerial vehicle (UAV) system. Because of low cost limits, the performance must be ensured by other ways. The present proposal is a quaternion-based estimator used in the control loop. In order to make the proposed solution easy to be reproduced by the reader, step-by-step instructions are given, including component choices, design, and implementation. Throughout the article, detailed description of the system model is given. The efficacy of the suggested quaternion-based predictive control is evaluated by extended experimental results.

中文翻译：

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基于四元数估计器的四旋翼无人机的高效设计与实现

该研究的主要目标是设计一种低成本，高性能的四旋翼无人飞行器（UAV）系统。由于低成本的限制，必须通过其他方式来确保性能。本提议是在控制回路中使用的基于四元数的估计器。为了使建议的解决方案易于读者阅读，给出了分步说明，包括组件选择，设计和实现。在整个文章中，给出了系统模型的详细描述。建议的基于四元数的预测控制的功效通过扩展的实验结果进行评估。